Grid projection surface reconstruction method. More...

#include <pcl/surface/grid_projection.h>

Inheritance diagram for pcl::GridProjection< PointNT >:

Collaboration diagram for pcl::GridProjection< PointNT >:

Classes
struct	Leaf
	Data leaf. More...
Public Types
typedef pcl::PointCloud < PointNT >::Ptr	PointCloudPtr
typedef pcl::KdTree< PointNT >	KdTree
typedef pcl::KdTree< PointNT >::Ptr	KdTreePtr
typedef boost::unordered_map < int, Leaf, boost::hash< int > , std::equal_to< int > , Eigen::aligned_allocator < int > >	HashMap
typedef pcl::PointCloud< PointNT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	GridProjection ()
	Constructor.
	GridProjection (double in_resolution)
	Constructor.
	~GridProjection ()
	Destructor.
void	setResolution (double resolution)
	Set the size of the grid cell.
double	getResolution () const
void	setPaddingSize (int padding_size)
	When averaging the vectors, we find the union of all the input data points within the padding area,and do a weighted average.
int	getPaddingSize () const
void	setNearestNeighborNum (int k)
	Set this only when using the k nearest neighbors search instead of finding the point union.
int	getNearestNeighborNum () const
void	setMaxBinarySearchLevel (int max_binary_search_level)
	Binary search is used in projection.
int	getMaxBinarySearchLevel () const
const HashMap &	getCellHashMap () const
const std::vector < Eigen::Vector3f, Eigen::aligned_allocator < Eigen::Vector3f > > &	getVectorAtDataPoint () const
const std::vector < Eigen::Vector4f, Eigen::aligned_allocator < Eigen::Vector4f > > &	getSurface () const
virtual void	reconstruct (pcl::PolygonMesh &output)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
virtual void	reconstruct (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
void	setSearchMethod (const KdTreePtr &tree)
	Provide an optional pointer to a search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointNT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointNT>
class pcl::GridProjection< PointNT >

Grid projection surface reconstruction method.

Author:: Rosie Li

Note:

If you use this code in any academic work, please cite:

Ruosi Li, Lu Liu, Ly Phan, Sasakthi Abeysinghe, Cindy Grimm, Tao Ju. Polygonizing extremal surfaces with manifold guarantees. In Proceedings of the 14th ACM Symposium on Solid and Physical Modeling, 2010.

Definition at line 73 of file grid_projection.h.

Member Typedef Documentation

template<typename PointNT >

typedef boost::unordered_map<int, Leaf, boost::hash<int>, std::equal_to<int>, Eigen::aligned_allocator<int> > pcl::GridProjection< PointNT >::HashMap

Definition at line 94 of file grid_projection.h.

template<typename PointNT >

typedef pcl::KdTree<PointNT> pcl::GridProjection< PointNT >::KdTree

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 81 of file grid_projection.h.

template<typename PointNT >

typedef pcl::KdTree<PointNT>::Ptr pcl::GridProjection< PointNT >::KdTreePtr

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 82 of file grid_projection.h.

typedef pcl::PointCloud<PointNT > pcl::PCLBase< PointNT >::PointCloud [inherited]

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointNT >::PointCloudConstPtr [inherited]

Definition at line 76 of file pcl_base.h.

template<typename PointNT >

typedef pcl::PointCloud<PointNT>::Ptr pcl::GridProjection< PointNT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointNT >.

Definition at line 79 of file grid_projection.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointNT >::PointIndicesConstPtr [inherited]

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointNT >::PointIndicesPtr [inherited]

Definition at line 78 of file pcl_base.h.

Constructor & Destructor Documentation

template<typename PointNT >

pcl::GridProjection< PointNT >::GridProjection ( )

Constructor.

Definition at line 49 of file grid_projection.hpp.

template<typename PointNT >

pcl::GridProjection< PointNT >::GridProjection ( double in_resolution )

Constructor.

Parameters:

in_resolution set the resolution of the grid

Definition at line 57 of file grid_projection.hpp.

template<typename PointNT >

pcl::GridProjection< PointNT >::~GridProjection ( )

Destructor.

Definition at line 65 of file grid_projection.hpp.

Member Function Documentation

template<typename PointNT >

const HashMap& pcl::GridProjection< PointNT >::getCellHashMap ( ) const [inline]

Definition at line 174 of file grid_projection.h.

IndicesPtr const pcl::PCLBase< PointNT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointNT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointNT >

int pcl::GridProjection< PointNT >::getMaxBinarySearchLevel ( ) const [inline]

Definition at line 167 of file grid_projection.h.

template<typename PointNT >

int pcl::GridProjection< PointNT >::getNearestNeighborNum ( ) const [inline]

Definition at line 152 of file grid_projection.h.

template<typename PointNT >

int pcl::GridProjection< PointNT >::getPaddingSize ( ) const [inline]

Definition at line 137 of file grid_projection.h.

template<typename PointNT >

double pcl::GridProjection< PointNT >::getResolution ( ) const [inline]

Definition at line 117 of file grid_projection.h.

KdTreePtr pcl::PCLSurfaceBase< PointNT >::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 82 of file reconstruction.h.

template<typename PointNT >

const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& pcl::GridProjection< PointNT >::getSurface ( ) const [inline]

Definition at line 186 of file grid_projection.h.

template<typename PointNT >

const std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> >& pcl::GridProjection< PointNT >::getVectorAtDataPoint ( ) const [inline]

Definition at line 180 of file grid_projection.h.

const PointNT & pcl::PCLBase< PointNT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

virtual void pcl::SurfaceReconstruction< PointNT >::reconstruct ( pcl::PolygonMesh & output ) [virtual, inherited]

Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>

Parameters:

[out] output the resultant reconstructed surface model

Implements pcl::PCLSurfaceBase< PointNT >.

virtual void pcl::SurfaceReconstruction< PointNT >::reconstruct	(	pcl::PointCloud< PointNT > &	points,
		std::vector< pcl::Vertices > &	polygons
	)		`[virtual, inherited]`

Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>

Parameters:

[out]	points	the resultant points lying on the new surface
[out]	polygons	the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.

void pcl::PCLBase< PointNT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointNT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointNT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointNT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointNT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointNT >

void pcl::GridProjection< PointNT >::setMaxBinarySearchLevel ( int max_binary_search_level ) [inline]

Binary search is used in projection.

given a point x, we find another point which is 3*cell_size_ far away from x. Then we do a binary search between these two points to find where the projected point should be.

Definition at line 162 of file grid_projection.h.

template<typename PointNT >

void pcl::GridProjection< PointNT >::setNearestNeighborNum ( int k ) [inline]

Set this only when using the k nearest neighbors search instead of finding the point union.

Parameters:

k	The number of nearest neighbors we are looking for

Definition at line 147 of file grid_projection.h.

template<typename PointNT >

void pcl::GridProjection< PointNT >::setPaddingSize ( int padding_size ) [inline]

When averaging the vectors, we find the union of all the input data points within the padding area,and do a weighted average.

Say if the padding size is 1, when we process cell (x,y,z), we will find union of input data points from (x-1) to (x+1), (y-1) to (y+1), (z-1) to (z+1)(in total, 27 cells). In this way, even the cells itself doesnt contain any data points, we will stil process it because there are data points in the padding area. This can help us fix holes which is smaller than the padding size.

Parameters:

padding_size The num of padding cells we want to create

Definition at line 132 of file grid_projection.h.

template<typename PointNT >

void pcl::GridProjection< PointNT >::setResolution ( double resolution ) [inline]

Set the size of the grid cell.

Parameters:

resolution the size of the grid cell

Definition at line 111 of file grid_projection.h.

void pcl::PCLSurfaceBase< PointNT >::setSearchMethod ( const KdTreePtr & tree ) [inline, inherited]

Provide an optional pointer to a search object.

Parameters:

[in] tree a pointer to the spatial search object.

Definition at line 75 of file reconstruction.h.

The documentation for this class was generated from the following files:

/usr/src/RPM/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/grid_projection.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/impl/grid_projection.hpp

Classes

Public Types

Public Member Functions

Detailed Description

template<typename PointNT> class pcl::GridProjection< PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointNT>
class pcl::GridProjection< PointNT >